反陀螺v2.0

others/include/additions.h

@@ -15,7 +15,7 @@ struct McuData {
     float curr_pitch;
     uint8_t state;
     uint8_t mark;
-    uint8_t use_classifier;
+    uint8_t anti_top;
     uint8_t enemy_color;
     int delta_x;
     int delta_y;
@@ -41,7 +41,7 @@ void extract(cv::Mat &gimbal_src, cv::Mat &chassis_src);
 
 void extract(cv::Mat &gimbal_src);
 
-float getTimeIntervalms(const systime &now, const systime &last);
+double getTimeIntervalms(const systime &now, const systime &last);
 
 double getPointLength(const cv::Point2f &p);
 

others/include/systime.h

@@ -5,12 +5,15 @@
 #ifndef _PLATFORM_H_
 #define _PLATFORM_H_
 
-typedef struct{
-    int second;
-    int millisecond;
-} systime;
+//typedef struct{
+//    float second;
+//    float millisecond;
+//} systime;
+
+typedef double systime;
 
 void getsystime(systime &t);
+double getTimeIntervalms(const systime &now, const systime &last);
 
 #if defined(Linux) || defined(Darwin)
     #include <sys/time.h>

others/src/additions.cpp

@@ -173,10 +173,6 @@ void extract(cv::Mat &gimbal_src) {//图像预处理，将视频切成640×480
     }
 }
 
-float getTimeIntervalms(const systime &now, const systime &last){
-    return (now.second-last.second)*1000.0 + (now.millisecond-last.millisecond);
-}
-
 double getPointLength(const cv::Point2f &p) {
     return sqrt(p.x * p.x + p.y * p.y);
 }

others/src/systime.cpp

@@ -5,11 +5,17 @@
 
 #if defined(Linux) || defined(Darwin)
 
-void getsystime(systime &t){
+static systime getsystime(){
     timeval tv;
     gettimeofday(&tv, nullptr);
-    t.second = tv.tv_sec;
-    t.millisecond = tv.tv_usec/1000;
+    return tv.tv_usec / 1000.0 + tv.tv_sec * 1000.0;
+}
+
+void getsystime(systime &t) {
+    static systime time_base = getsystime();
+    timeval tv;
+    gettimeofday(&tv, nullptr);
+    t = tv.tv_usec / 1000.0 + tv.tv_sec * 1000.0 - time_base;
 }
 
 #elif defined(Windows)
@@ -17,10 +23,14 @@ void getsystime(systime &t){
 void getsystime(systime &t){
     SYSTEMTIME tv;
     GetLocalTime(&tv);
-    t.second = tv.wSecond;
-    t.millisecond = tv.wMilliseconds;
+    t = tv.wMilliseconds + tv.wSecond * 1000.0;
 }
 
 #else
-    #error "nonsupport platform."
+#error "nonsupport platform."
 #endif
+
+
+double getTimeIntervalms(const systime &now, const systime &last) {
+    return now - last;
+}